Human-Following Control in Furrow For Agricultural Support Robot

研究成果: Conference contribution

2 被引用数 (Scopus)


In Japan, the reduction in agricultural work population and increase in abandoned cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot that supports the transportation of harvested crops while it follows the user. To move in the furrowed field, ridges and furrows where the robot can move must be detected using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. However, when the robot follows the user ahead of it, it has difficulty detecting the ridges because of occlusion by the user. In addition, the robot requires to follow the user and move in and out of furrows of different widths in the farm field. To achieve smooth and safe harvesting support in the field with different width furrows, we propose a method for ridge detection and tracking by measuring the furrow width and interpolation using an RGB-D camera and a method for human-following control while avoiding ridges according to the ridge observation state using fuzzy set theory. To verify the proposed methods, experiments in the farm are carried out.

ホスト出版物のタイトルIntelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
編集者Marcelo H. Ang Jr, Hajime Asama, Wei Lin, Shaohui Foong
出版社Springer Science and Business Media Deutschland GmbH
出版ステータスPublished - 2022
イベント16th International Conference on Intelligent Autonomous Systems, IAS-16 2020 - Virtual, Online
継続期間: 2021 6月 222021 6月 25


名前Lecture Notes in Networks and Systems
412 LNNS


Conference16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
CityVirtual, Online

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信


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